Worst-case evaluation for integrated chassis control systems

A simulation-based worst-case evaluation (WCE) method for evaluating the performance of integrated chassis control (ICC) systems is reported in this paper. The ICC controller was developed based on balanced objectives in controlling vehicle motions, with carefully selected thresholds and targets. A trajectory optimisation problem which is defined to identify the worst-possible excitation (e.g., steering) to the vehicle with ICC is solved via nonlinear programming (NLP) approach. Generation of initial points is based on existing standard tests, engineering practice and linear control theories. Vehicle response under the ICC control is evaluated using the CarSim software. The effectiveness of the ICC system was examined by applying WCE procedure. In addition, WCE results provided useful insight for improving the ICC design, which can be incorporated into the overall ICC design and evaluation process.